A control software development framework for creating work programs using a teaching method using display devices

Abstract

A control software development framework for creating work programs using a display device in a teaching method, wherein the control system consists of the following components: a touch screen system, a controller system, and a moving parts system of the machine body; the operator performs touch operations on the touch-enabled display device of the touch screen system, including machine movement or action selection, and the background controller system runs its built-in application module to control the moving parts system of the machine body according to the touch actions, so that the machine working head or the workpiece being processed moves along the required path, and executes the selected action during the movement process or after moving to a certain position, i.e., a series of simple operations are performed on the machine through touch operations on the touch-enabled display device. During this operation process, the movement of the machine is completely visible, and during the operation process, the operator only needs to care about the specific actual position of the machine working head or the workpiece being processed and the action to be performed, thereby completing the creation of the "work program" through this process.

Description

Technical field:

[0001] The invention belongs to the field of metal processing machinery and sawing machine processing, and relates to a control software development framework for creating a working program by a teaching method using a display device. Background technology:

[0002] In the production field involving castings and die-casting parts, the blanks of castings and die-casting parts have process structural components such as pouring sprues and risers. These process structural components need to be removed before entering the machine tool processing process. The current processing method is to manually use simple cutting equipment for cutting. The cutting process will produce dust, debris, and mist, which will affect human health. Some parts have a certain weight and are difficult to move. Simple cutting equipment has the hidden danger of cutting the operator's body, and manual operation also has efficiency problems.

[0003] The "automatic sawing machine for cutting the pouring and riser of castings and die-castings" replaces manual labor to automate the above-mentioned processing process.

[0004] The control software development framework proposed in this invention is used to develop and design the motion control software for the control system of this "automatic sawing machine for cutting the pouring and riser of castings and die castings." The method used can be summarized as "using a display device with a touch function to create a working program for a motion-type automated machine by teaching." Summary of the invention:

[0005] In response to the above problems, the present invention proposes a solution, which is a control software development framework for creating a working program using a display device in a teaching method.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] A control software development framework for creating work programs using a display device and a teaching method. This control system for motion automation machines consists of a touch screen system, a controller system, and a system of moving parts that work together. Specifically:

[0008] A touch screen system refers to a display device with touch operation function. Its hardware composition must include a CPU and be able to run an operating system; its display has graphics, character, and color display functions, and has touch operation functions or operation functions similar to touch operation functions, and has the function of realizing human-computer interaction; it has internal memory and pluggable or connectable external memory; and has an external communication port;

[0009] A controller system with programming capabilities that can automatically complete certain tasks through pre-programmed programs. Its functions include at least the following: programming and reprogramming capabilities; storage of multiple programs, with the ability to retain stored programs during power outages; pluggable or connectable external memory; three or more external communication ports; a certain number of IO interfaces for connecting to external events; an input interface for connecting to external high-speed events; and a high-speed pulse output interface or a high-speed network interface for connecting to the servo motor or stepper motor driver of the moving parts system of the machine body.

[0010] The moving parts system of the machine body, including other IO components, spindles, and coordinate axes;

[0011] Its working method is as follows: the operator performs touch operation actions on the touch-screen system's display device with touch function, including machine movement or action selection. The background controller system runs its built-in application module and controls the moving parts system of the machine body according to the touch action, so that the machine working head or the processed workpiece moves along the required path. During the movement process or after moving to a certain position, the selected action is executed, that is, a series of simple operations are performed on the machine through the touch operation actions on the display device with touch function. During this operation process, the movement of the machine is completely visual. During the operation process, the operator only needs to care about the specific actual position of the machine working head or the processed part and the action to be performed, and complete the creation of the "work program" through this process.

[0012] A display device with a touch function, wherein at least the screen elements thereof include: a navigation button area, a teaching function button area, a position data display area, a content display area for a generated "work program", a screen button area required to complete other operations, a machine status information display area, an operation and teaching prompt information display area, and an access button for user help content;

[0013] Using the above screen elements, the teaching method is as follows: Use the navigation buttons in the navigation button area to jog the machine head to the desired position, which will be displayed in the position data display area. After confirming the position, use the function buttons in the teach function button area to create the trajectory and action.

[0014] The creation of a series of trajectories plus a series of actions is equivalent to creating a work program. The work program is stored according to certain rules, that is, the data structure. The work program can be edited, stored, deleted, and copied. The work program can be run, that is, the machine automatically runs according to the work program and completes the work.

[0015] Furthermore, the touch screen system comprises:

[0016] (1) An internal memory module, which stores the following software modules: firmware, operating system, and application modules 1 to n;

[0017] (2) External memory module;

[0018] (3)CPU;

[0019] (4) Communication module;

[0020] (5) Display touch module, including display panel and touch panel;

[0021] (6) Internal bus;

[0022] (7) Communication line with the controller system;

[0023] The touch screen system uses a series of sub-modules within the internal application module to display the screen and screen elements required for teaching operations on the display panel, accept user touch operations through the touch panel, and complete data exchange with the controller system through communication modules and communication lines.

[0024] Furthermore, a controller system comprising:

[0025] (1) Internal memory module 2, which stores the following program modules: firmware 2, operating system 2, and application module 21 to application module 2n;

[0026] (2) External memory module 2;

[0027] (3)CPU two;

[0028] (4) Communication module with touch screen system;

[0029] (5) Communication line with touch screen system;

[0030] (6) IO module, including general control I / O interface and motion control I / O interface;

[0031] (7) Internal bus;

[0032] (8) IO lines connecting the moving parts system of the machine body;

[0033] (9) Signal line connecting the main shaft of the moving parts system of the machine body;

[0034] (10) Signal lines connecting the coordinate axes of the moving parts system of the machine body.

[0035] Furthermore, the motion-type automated machine is an automatic cutting machine, which includes the following features:

[0036] (1) The machining process is completed by moving the position or changing the posture of the working head or the workpiece. To achieve the position movement or posture change, a certain topological structure of the mechanical structure is required for the moving parts, and a driving part and a control device are required to complete the action of the moving parts.

[0037] (2) The movement of the position or change of the posture of the processed part is called "path" or "trajectory";

[0038] (3) During the process of position movement or posture change, or after moving to a certain position or changing to a certain posture, some "actions" need to be performed to complete the processing. These actions correspond to specific processing parameters;

[0039] (4) For each different part, a series of "paths" and "actions" combinations need to be created according to the processing sequence. This combination is the "work program";

[0040] (5) The machine automatically completes the parts processing process according to the "working procedure";

[0041] (6) “Work procedures” can be created, edited, saved, and copied;

[0042] (7) The creation, editing, saving and copying of the "working program" adopts the solution of "using a display device with a touch function to create a working program for a motion-type automated machine by teaching method", which requires a control software development framework as described in claims 1-4.

[0043] By adopting the above technical solution, the present invention performs a series of simple operations on the machine through touch operation actions on a display device with a touch function. The movement of the machine during this operation process is completely visible. During the operation process, the operator only needs to care about the specific actual position of the machine working head or the processed parts and the actions that need to be performed. This process completes the creation of the "work program". During the entire creation process, the operator does not involve, face, or see the specific content of the program source code and other complex technical details.

[0044] The method and implementation proposed in the present invention are intended to completely solve the problem of human-computer interaction (i.e., teaching). The focus is on the implementation method, process, and device of human-computer interaction (i.e., teaching) using a display device with a touch function. Therefore, it does not involve the creation of the specific content of the background hardware and its internal application modules for implementing these methods. All the background hardware and its internal application software creation tools and methods described in this patent are well-known technologies. Description of the drawings:

[0045] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0046] Figure 1 Screen elements required for the teaching method of the present invention;

[0047] Figure 2 The implementation principle and process of the teaching method of the present invention;

[0048] Figure 3 It is composed of the control device of the motion-type automatic machine of the present invention. Specific implementation method:

[0049] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0050] like Figure 1 - Figure 3 The embodiment of the present invention is shown in FIG.

[0051] This embodiment takes the automatic sawing machine for cutting the pouring and riser of castings and die castings as an example:

[0052] This automatic sawing machine is controlled by a PLC or a control device with PLC features, including but not limited to 4 to 6 axis servo motor driven motion coordinate axes, including but not limited to 1 to 2 spindle assemblies, and the cutting actions completed by the spindle include but not limited to cutting with a metal saw blade, cutting with a resin cutting blade, cutting with a flame tool, cutting with a plasma tool, gas cutting with a laser tool, or grinding with a grinding tool. This automatic sawing machine is a universal cutting or grinding machine that can cut or grind a variety of different parts. For each part, it is necessary to create a cutting and grinding process path and cutting and grinding parameters, which are defined as "work procedures" herein. ", each part requires a "working procedure", and the cutting machine automatically completes the cutting and polishing process of the part according to the "working procedure". The "working procedure" can be created, edited, saved, and copied. The process path refers to the cutting at different cutting positions of the cut parts, the coordinate position of the motion coordinate axis and the movement of the main shaft, that is, the moving path. The cutting and polishing parameters refer to the switch and rotation speed control of the spindle saw blade, cutting disc, other cutting tools, and polishing tools at different positions, the airflow control, ignition, fire extinguishing, and flame size control of flame cutting, the switch and ion flow size control of the plasma cutting head, and the laser switch, laser intensity control, and trajectory tracking control of the laser cutting head.

[0053] Implementation plan:

[0054] The control system consists of three parts: a touch screen 100, a controller 200, and a moving part 300 of the machine body.

[0055] The touch screen 100 refers to a display device with a touch operation function, including personal computers, tablet computers (PADs), smart phones, industrial-grade human-machine interfaces (HMIs), other portable electronic devices, other intelligent devices with touch operation functions that do not exist now but will appear in the future, other wearable electronic devices with touch operation functions that do not exist now but will appear in the future, other intelligent electronic devices that do not exist now but will appear in the future that achieve similar touch operation functions through certain limbs or organs of the human body, other intelligent systems that do not exist now but will appear in the future that perceive and reproduce the movements of human fingers or arms through inertial sensor devices, other systems that do not exist now but will appear in the future that perceive the movements of human fingers or arms through computer vision technology analysis, and its characteristics must at least meet but are not limited to the following terms: 1 Its hardware composition must contain a CPU and be able to run an operating system, including any version of Windows below win7, or an upgraded version after win7, or any one of the embedded operating systems (wince, VXwork, Linux, Apple OS, other embedded operating systems), or any operating system software that supports running operations. 2. The display must have graphics, character, and color display capabilities, touch-screen operation, or touch-like operation capabilities, and other functions enabling human-computer interaction. 3. It must have internal memory and removable or connectable external memory (USB drive, SD card, or other storage device). 4. It must have an external communication port (USB, RS232, RS485, or other standard communication port).

[0056] The touch screen 100 comprises at least but not limited to the following components:

[0057] The internal memory module 104 stores the following software modules: firmware 1040 , operating system 1044 , and application programs 1048 (including application program modules 1 to 1048 1 and application program modules n to 1048 n ).

[0058] External memory module 105

[0059] CPU 108

[0060] Communication module 112

[0061] The display touch module 116 includes a display panel 1160 and a touch panel 1161. Some devices have virtual display and touch devices, such as 2D or 3D images projected onto the human body or other physical surfaces, or virtual 2D or 3D images projected into space without relying on any physical surface, or virtual displays and operations achieved with the assistance of human limbs or organs. All of these can be regarded as the physical existence of the "display touch module 116".

[0062] Other hardware devices connected to the touch screen 100 through communication or IO, such as encoders with or without handwheels, physical buttons, and clicking devices with or without handwheels such as mice, can all be regarded as the physical existence of the "display touch module 116".

[0063] Internal bus 120

[0064] Communication line 124 with controller

[0065] The touch screen 100 completes the display of the screen and screen elements (including but not limited to graphics, data, text, screen buttons, and visual prompt information) required for the teaching operation on the display panel 1160 through a series of sub-modules within the internal application module 1048, and accepts the contact operation of the user 000 through the touch panel 1161, and completes the data exchange with the controller 200 through the communication module 112 and the communication line 124.

[0066] The controller 200 refers to a controller with programming function that can automatically complete certain tasks through pre-programmed programs, such as a personal computer PC, an industrial computer IPC, an embedded controller, a PLC (programmable controller), a single-chip computer system (MCS51 system, MCS96 system, ARM system, DSP, SOC, FPGA, and other chip-level controllers that have been incorporated into or will be incorporated into the single-chip computer system), and other intelligent controllers.

[0067] Its functions shall at least meet but not be limited to:

[0068] 1- Capable of programming and reprogramming. 2- Capable of storing multiple programs, which can be retained even after power failure. 3- Has a pluggable or connectable external storage device (USB drive, SD card, other storage device, or one of these). 4- Has three or more external communication ports (USB, RS232, RS485, Ethernet, EtherCAT, or other standardized communication interfaces, or three or more of these). 5- Has a certain number of IO interfaces for connecting to external events (digital input DI, digital output DO, industrial standard analog input AI, industrial standard analog output AO). 6- Has input interfaces for connecting to external high-speed events (interrupt input, high-speed counter input, incremental encoder input). 7- Has a high-speed pulse output interface for connecting to the servo motor or stepper motor driver of the moving parts of the machine body, or a high-speed network interface such as EtherCAT, SerCOS, CANBUS, etc.

[0069] Its composition includes at least some or all of the following but is not limited to:

[0070] The internal memory module 204 stores the following program modules: firmware 2040, operating system 2044, application modules 2048 (including application modules 1 to 20481 and application modules n to 2048n).

[0071] External memory module 205,

[0072] CPU 208

[0073] Communication module 212 with touch screen

[0074] Communication line with touch screen 224

[0075] IO module 216 includes I / O interface (general control) 2160 (including high-speed input HDI 21600, digital input DI 21601, digital output DO 21602, analog input AI 21602, and analog output AO 21603), I / O interface (motion control) 2164 including pulse control interface 21640 (pulse output PUL 216400, state control out 216401, and state monitoring in 216402), and bus control interface EtherCAT 21644.

[0076] Internal bus 220

[0077] IO line 228 connecting the moving parts of the machine body

[0078] Signal line 232 connecting the main shaft of the moving parts of the machine body

[0079] Signal line 236 connecting the coordinate axis of the moving parts of the machine body

[0080] The moving parts 300 of the machine body include other IO components 304, spindles (1-2) 308, and coordinate axes (1-6) 312

[0081] Its control software development framework:

[0082] "Using a display device with a touch function to create a working program for a motion-type automated machine by a teaching method" is characterized by "using a display device with a touch function" and "teaching". Its working process is: the operator performs touch operation actions (machine movement, action selection) on the display device with a touch function, and the background controller runs its built-in application module to control the moving parts of the machine body according to the touch action, so that the machine working head or the workpiece being processed moves according to the required path. During the movement process or after moving to a certain position, the selected action is executed, that is, a series of simple operations are performed on the machine through touch operation actions on the display device with a touch function. During this operation process, the movement of the machine is completely visible. During the operation process, the operator only needs to care about the specific actual position of the machine working head or the workpiece being processed and the action to be performed. This process completes the creation of the "working program". During the entire creation process, the operator is not involved in, does not face, and cannot see the specific content of the program source code and other complex technical details.

[0083] The method and implementation proposed in the present invention are intended to completely solve the problem of human-computer interaction (i.e., teaching). The focus is on the implementation method, process, and device of human-computer interaction (i.e., teaching) using a display device with a touch function. Therefore, it does not involve the creation of the specific content of the background hardware and its internal application modules for implementing these methods. All the background hardware and its internal application software creation tools and methods described in this patent are well-known technologies.

[0084] Human-computer interaction concept:

[0085] Where is the machine currently (position coordinates display machine TO person) → tell the machine where to go (destination coordinates input TO machine) → what path to take (straight line, arc, circle, curve type selection TO machine) → what to do after reaching the destination (action selection TO machine).

[0086] "Teach-in" concept:

[0087] Based on the machine's current state, a human guides the machine where to go, what to do, and how to do it. The machine remembers this process and automatically repeats it. This process is called a "program," and the process of creating this process is called "teaching." This is the process of humans recognizing, instructing, and teaching the machine—this is the concept of "teaching."

[0088] In order to realize the above-mentioned human-computer interaction (i.e. teaching) method, one of the necessary hardware is a "display device with touch function", on which the minimum screen elements ( Figure 1 ) as shown, a navigation button area 601, a teaching function button area 602, a position data display area 610, a content display area 608 of the generated "work program", a screen button area 603 required to complete other operations, a machine status information display area 607, an operation and teaching prompt information display area 609, and an entry button 611 for user help content.

[0089] The navigation button area 601 is a series of screen buttons created on a display screen with a touch function. The screen buttons can also be implemented by mapping external hardware including but not limited to hand-cranked encoders, physical buttons, etc.

[0090] Using the above screen elements, the implementation principle and process of the teaching method are as follows ( Figure 2 As shown): Use a series of navigation buttons in the navigation button area 601 to move the machine working head to the desired position (position data display area 610) and confirm the position. Then use a series of function buttons in the teaching function button area 602 to create trajectories and actions.

[0091] Track (function button for creating tracks):

[0092] Common trajectory examples

[0093] 》Connect the two points just passed by to form a straight line trajectory

[0094] Click this button and the controller will run its built-in application module to generate a series of specific step (trajectory) data and store them in the controller's internal memory in sequence according to the set rules (see the description in Table 2 below for details)

[0095] 》Connect the three points just passed into an arc

[0096] Same process as above

[0097] 》Connect the three points just passed into a circle

[0098] Same process as above

[0099] 》Fit the N points just passed into a smooth curve

[0100] Same process as above

[0101] Action (function button used to create an action):

[0102] Select an action in the action list, and the corresponding parameter list sub-window will pop up and enter the action. Set its specific parameters, confirm and close the sub-window, and the controller will run its built-in application module to generate a series of specific step (action) data and store them in the controller's internal memory in sequence according to the set rules (see the description in Table 3 below for details).

[0103] Examples of common actions:

[0104] 》Input point (detect the status of the input point)

[0105] Click this button to select the input point action. A sub-window will pop up. In the sub-window, select the input point number and operation status to be operated. Confirm and close the sub-window. The controller will run its built-in application module to generate the action data of one step (input point) and store it in the controller's internal memory in sequence according to the set rules (see the description in Table 3 below for details).

[0106] Output (such as opening / closing doors, clamping / releasing workpieces, spindle start, etc.)

[0107] The process is similar to

[0108] 》Analog output (spindle speed)

[0109] The process is similar to

[0110] 》Speed ​​control (change running speed)

[0111] The process is similar to

[0112] 》Constant speed cutting (start and end constant speed cutting)

[0113] The process is similar to

[0114] 》Saw blade diameter measurement

[0115] The process is similar to

[0116] 》Control program flow control (program jump, condition judgment, counting, jump label, etc.)

[0117] The process is similar to

[0118] 》Position jump (absolute coordinate, relative coordinate position jump)

[0119] The process is similar to

[0120] A series of trajectories + a series of actions = a work procedure

[0121] "Working procedures" are stored according to certain rules (data structure)

[0122] "Working procedures" can be edited, stored, deleted, and copied

[0123] The "working program" can be run, that is, the machine automatically runs according to the working program and completes the work

[0124] The working program is stored in "steps" in the order in which it is actually run (as shown in Table 1).

[0125]

[0126] The data structure of the "step" data of the work program is shown in Table 2 (Trace)

[0127]

[0128] The data structure of the "step" data of the work program is shown in Table 3 (Action)

[0129]

[0130] How the machine reaches the required position under the operation of the navigation button, how the position point is confirmed, how two points are connected into a straight line and the "step" data of the "working program" is generated, the specific content definition and parameter setting of the "action" used for selection, how the working program generated according to the above data structure standard is stored in the memory, etc. are all implemented by the background hardware and application modules. As for how to implement it specifically, it is not included in the scope of this patent.

[0131] The foregoing description shows and describes preferred embodiments of the present invention. As previously mentioned, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. Rather, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the inventive concept described herein by the teachings above or by techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention are intended to be protected by the appended claims.

Claims

1. A teaching method for a display device with a touch function, a control software development framework for creating a working program for a motion-type automated machine, and a control system comprising: a touch screen system, a controller system, and a machine body moving component system, wherein: A touch screen system refers to a display device with touch operation function. Its hardware composition must include a CPU and be able to run an operating system; its display has graphics, character, and color display functions, and has touch operation functions or operation functions similar to touch operation functions, and has the function of realizing human-computer interaction; it has internal memory and pluggable or connectable external memory; and has an external communication port; A controller system with programming capabilities that can automatically complete certain tasks through pre-programmed programs. Its functions include at least the following: programming and reprogramming capabilities; storage of multiple programs, with the ability to retain stored programs during power outages; pluggable or connectable external memory; three or more external communication ports; a certain number of IO interfaces for connecting to external events; an input interface for connecting to external high-speed events; and a high-speed pulse output interface or a high-speed network interface for connecting to the servo motor or stepper motor driver of the moving parts system of the machine body. The moving parts system of the machine body, including other IO components, spindles, and coordinate axes; Its working method is as follows: the operator performs touch operations on the touch screen system's display device with touch function, including machine movement or action selection. The background controller system runs its built-in application module and controls the moving component system of the machine body according to the touch operation, so that the machine working head or the workpiece being processed moves along the required path. During the movement process or after moving to a certain position, the selected action is executed. In other words, a series of simple operations are performed on the machine through touch operation on the touch screen display device. During this operation process, the movement of the machine is completely visual. During the operation process, the operator only needs to pay attention to the specific actual position of the machine working head or the workpiece being processed and the required action. In this process, the "work program" is created. A touch-enabled display device having at least the following screen elements: a navigation button area, a teach function button area, a position data display area, a generated "work program" content display area, a screen button area required to complete other operations, a machine status information display area, an operation and teaching prompt information display area, and a button to access user help content; Using the above screen elements, the teaching method is as follows: Use the navigation buttons in the navigation button area to jog the machine head to the desired position, which will be displayed in the position data display area. After confirming the position, use the function buttons in the teach function button area to create the trajectory and action. The creation of a series of trajectories plus a series of actions is equivalent to creating a work program. The work program is stored according to certain rules, that is, data structure. The work program can be edited, stored, deleted, and copied. The work program can be run, that is, the machine automatically runs according to the work program and completes the work; A touch screen system comprising: (1) An internal memory module, which stores the following software modules: firmware, operating system, and application modules 1 to n; (2) External memory module; (3)CPU; (4) Communication module; (5) Display touch module, including display panel and touch panel; (6) Internal bus; (7) Communication line with the controller system; The touch screen system displays the screen and screen elements required for teaching operations on the display panel through a series of sub-modules within the internal application module, receives user touch operations through the touch panel, and completes data exchange with the controller system through the communication module and communication line; A controller system comprising: (1) Internal memory module 2, which stores the following program modules: firmware 2, operating system 2, and application module 21 to application module 2n; (2) External memory module 2; (3)CPU two; (4) Communication module with touch screen system; (5) Communication line with touch screen system; (6) IO module, including general control I / O interface and motion control I / O interface; (7) Internal bus; (8) IO lines connecting the moving parts system of the machine body; (9) Signal line connecting the main shaft of the moving parts system of the machine body; (10) Signal lines connecting the coordinate axes of the moving parts system of the machine body; The feature of the invention is that the motion-type automated machine is an automatic cutting machine, which includes the following features: (1) The machining process is completed by moving the position or changing the posture of the working head or the workpiece. To achieve the position movement or posture change, a certain topological structure of the mechanical structure is required for the moving parts, and a driving part and a control device are required to complete the action of the moving parts. (2) The movement of the position or change of the posture of the processed part is called "path" or "trajectory"; (3) During the process of position movement or posture change, or after moving to a certain position or changing to a certain posture, some "actions" need to be performed to complete the processing. These actions correspond to specific processing parameters; (4) For each different part, a series of "paths" and "actions" combinations need to be created according to the processing sequence. This combination is the "work program"; (5) The machine automatically completes the parts processing process according to the "working procedure"; (6) "Work procedures" can be created, edited, saved, and copied; (7) The creation, editing, saving, and copying of "work programs" are carried out by using a method of "using a display device with a touch function to teach and create work programs for motion automation machines"; The working procedure has the following characteristics: The "working program" can be run, that is, the machine automatically runs according to the working program and completes the work; The work program is expressed in "steps", which are divided into trajectory control and motion control. Trajectory control steps complete the coordinate position movement of the machine work head, while motion control steps control the machine to complete some actions, including door opening, door closing, workpiece clamping, workpiece opening, and spindle starting. The working program is stored in "steps" in the order of actual operation. From step 1 to step n, its trajectory or action occupies 13 16-bit bytes of storage memory respectively; The data structure of the "step" data of the working program: the trajectory is as follows: Each step occupies 13 16-bit bytes of memory, where: The X movement amount is a signed 32-bit number, occupies two 16-bit bytes, and is stored in bytes 0 to 1; The Y movement amount is a signed 32-bit number, occupies two 16-bit bytes, and is stored in bytes 2 to 3; The Z movement amount is a signed 32-bit number, occupies two 16-bit bytes, and is stored in bytes 4-5; The 4-axis movement amount is a signed 32-bit number, which occupies two 16-bit bytes and is stored in bytes 6 to 7; The 5-axis movement value is a signed 32-bit number, which occupies 2 16-bit bytes and is stored in bytes 8-9. The 6-axis movement value is a signed 32-bit number, which occupies 2 16-bit bytes and is stored in bytes 10-11. The control code is a signed 16-bit number, which occupies 1 16-bit byte and is stored in byte 12. The data structure of the "step" data of the working program: the action is as follows: Each step occupies 13 16-bit bytes of memory, where: Parameter 1 occupies 1 16-bit byte and is stored in byte 0; Parameter 2 occupies 1 16-bit byte and is stored in the first byte; Parameter 3 occupies 1 16-bit byte and is stored in the second byte; Parameter 4 occupies 1 16-bit byte and is stored in the third byte; Parameter 5 occupies 1 16-bit byte and is stored in the 4th byte; Parameter 6 occupies 1 16-bit byte and is stored in the 5th byte; Parameter 7 occupies 1 16-bit byte and is stored in the 6th byte; Parameter 8 occupies 1 16-bit byte and is stored in the 7th byte; Parameter 9 occupies 1 16-bit byte and is stored in the 8th byte; Parameter 10 occupies 1 16-bit byte and is stored in the 9th byte; Parameter 11 occupies 1 16-bit byte and is stored in the 10th byte; Parameter 12 occupies 1 16-bit byte and is stored in the 11th byte; The control code is a signed 16-bit number, occupies 1 16-bit byte, and is stored in the 12th byte.

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